Multi-UAV Decentralized Task Allocation with Intermittent Communications: the DTC algorithm

A new decentralized task allocation algorithm for UAVs using intermittent and asynchronous communications is presented. The proposed algorithm fosters a decentralized task consensus (DTC) across the UAVs. To increase the efficiency of the communications, the decision to communicate is based on the outputs of the task allocation procedure. Simulation results with a realistic nonlinear model of almost-lighter-than-air-vehicles are presented. Compared with a decentralized information consensus (DIC) algorithm, the DTC algorithm is demonstrated to require less communications to achieve a similar or better cooperative behavior.